相关论文: Kineverse: A Symbolic Articulation Model Framework…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…

Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, dressing, or cleaning policies. However, the main challenge…

Gestures serve as a fundamental and significant mode of non-verbal communication among humans. Deictic gestures (such as pointing towards an object), in particular, offer valuable means of efficiently expressing intent in situations where…

Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…

3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…

Whenever humans and robots work together, it is essential that unexpected robot behavior can be explained to the user. Especially in applications such as shared control the user and the robot must share the same model of the objects in the…

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…

We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…

Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

Robots in human environments will need to interact with a wide variety of articulated objects such as cabinets, drawers, and dishwashers while assisting humans in performing day-to-day tasks. Existing methods either require objects to be…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…